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So after some trying I was able to get the map and some of the launch files running:

For my_localization.launch, my_detection.launch and my_motion_planning.launch, I need to change the path to /home/autoware/Autoware/ros/install/runtime_manager/share/runtime_manager/launch_files/xxx.launch

Basically when I source build the Autoware from master-branch, the launch files are in the correct path (namely …/runtime_manager/script/xxx.launch), but in the docker environment, they are actually under …/runtime_manager/launch_files/xxx.launch

So after fixing the path of those 3 launch files mentioned above, I was able to get the map and the car running in rviz.

But I still cannnot get my_sensing.launch and my_mission_planning.launch running correctly, so any help or hints would be much appreciated!